Crash

[cavour22710]

I've simply dowloaded the code and tried to run it but i don't understand what it should do, as soon as the two images appear and i press w,a,s,d or i,j,k,l the program closes itself with this error:
C:....\2D-Grid-SLAM-master\ParticleFilter.py:130: RuntimeWarning: invalid value encountered in true_divide
self.weights = field / np.sum(field)
Traceback (most recent call last):
File "test.py", line 123, in
pf.Resampling(sensor_data)
File "C:...\2D-Grid-SLAM-master\ParticleFilter.py", line 113, in Resampling
re_id = np.random.choice(self.size, self.size, p=list(self.weights))
File "mtrand.pyx", line 1144, in mtrand.RandomState.choice
ValueError: probabilities contain NaN

[jerrywiston]

Can you describe your environment in detail ?

[horo2016]

in ParticleFilter.py modify as follow:
if np.sum(field)!= 0:
self.weights = field / np.sum(field)

[DuQingChen]

ParticleFilter.py , line 113
self.weights[np.isnan(self.weights)] = 1 / len(self.weights)
re_id = np.random.choice(self.size, self.size, p=list(self.weights))